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earthtojake/urdf

Generierung und standardmäßige Validierung von URDF-Roboterbeschreibungen zur Erstellungszeit.

Was ist urdf?

Der Skill `earthtojake/urdf` ist ein Werkzeug für Entwickler, die mit URDF-Dateien (Unified Robot Description Format) arbeiten. Er ermöglicht die Erstellung, Bearbeitung, Neugenerierung und Fehlerbehebung von Roboterbeschreibungen, einschließlich der zugehörigen Python-Quellen (`gen_urdf()`). Der Skill unterstützt die Validierung von Links, Joints, Limits, Inertials, visueller/Kollisionsgeometrie, Mesh-Referenzen und Frame-Konventionen während der Generierung. Er ist ideal für die Arbeit mit ROS- und Robotik-Setups, die eine präzise Beschreibung der Roboterkinematik und -dynamik erfordern. Für fortgeschrittene Semantic-Group-Definitionen und IK/Pfadplanung in MoveIt2 sollte der SRDF-Skill verwendet werden, während der cad-viewer-Skill für lokale MoveIt2-Serversteuerungen und der CAD-Skill für die Ausgabe von STEP/STL/3MF/DXF/GLB-Dateien zuständig sind.

Funktioniert mit~Claude Code~Codex CLI~Cursor
npx skills add https://github.com/earthtojake/text-to-cad/tree/main/skills/urdf

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Dokumentation

Was macht urdf?

URDF-Roboterbeschreibungsgenerierung und standardmäßige Generierungszeitvalidierung. Verwenden Sie diesen Skill beim Erstellen, Bearbeiten, Neugenerieren, Inspizieren oder Debuggen von .urdf-Dateien, Python gen_urdf()-Quellen, Roboter-Links, Gelenken, Grenzen, Trägheiten, visueller/Kollisionsgeometrie, Mesh-Referenzen, Frame-Konventionen oder generierten Roboterbeschreibungsartefakten. Verwenden Sie den SRDF-Skill für MoveIt2-semantische Gruppen und IK/Pfadplanungs-Semantiken; verwenden Sie den cad-viewer-Skill für lokale MoveIt2-Serversteuerungen; verwenden Sie den CAD-Skill für STEP/STL/3MF/DXF/GLB-Ausgaben.

Individual skills in this repo

This repo contains 6 individual skills — each has its own dedicated page.

earthtojake/cad

Create, modify, inspect, and validate STEP-first parametric CAD parts and assemblies. Use for natural-language CAD specs, reference images, 2D technical drawings, STEP/STP generation or direct inspection, Python CAD source, source-level joints, selector references, geometry facts, measurements, mating deltas, snapshots, and secondary STL/3MF/native GLB outputs from CAD geometry.

earthtojake/render

Start or reuse the CAD Explorer viewer, return review links, and create saved snapshots for explicit CAD and robot-description files. Use when rendering or visually reviewing `.step`, `.stp`, `.glb`, `.stl`, `.3mf`, `.dxf`, `.urdf`, `.srdf`, or `.sdf` files, especially when handed off from CAD, URDF, SRDF, or SDF generation skills.

earthtojake/sdf

SDFormat/SDF model and world generation, validation, and simulator handoff. Use for `.sdf` files, SDFormat XML, Python `gen_sdf()` sources, models, worlds, links, joints, poses, frames, inertials, visual/collision geometry, mesh URIs, sensors, lights, physics, plugins, includes, Gazebo, static SDF review, or simulator-specific metadata. Do not use for signed-distance-field geometry.

earthtojake/sendcutsend

Review DXF and STEP/STP uploads for SendCutSend.com orders using its ordering guide, catalog, and specs. Use only for SendCutSend.com preflight reports covering upload readiness, selected material/SKU/thickness/service availability, and service-specific checks for laser cutting, CNC routing, bending, tapping, countersinking, hardware insertion, and finishing.

earthtojake/srdf

MoveIt2 SRDF generation, validation, and planning-semantics workflow. Use when creating, editing, regenerating, inspecting, or validating `.srdf` files, `gen_srdf()` sources, MoveIt planning groups, virtual joints, passive joints, end effectors, group states, disabled collisions, URDF-linked planning semantics, or SRDF handoff for live review. Use the URDF skill for robot structure, the SDF skill for simulator descriptions, and the cad-viewer skill for rendering, live review links, and optional MoveIt2 controls.

earthtojake/step-parts

Find, evaluate, and download common purchasable CAD parts from step.parts, including named off-the-shelf actuators, servos, motors, electronics boards, connectors, screws, bolts, nuts, washers, bearings, standoffs, and other catalog components. Use when Codex needs to search the hosted step.parts catalog before creating simplified placeholder geometry, resolve fuzzy part names, standards, aliases, or dimensions, choose a matching part, fetch a canonical .step file, verify checksums, or use the step.parts API/OpenAPI/catalog endpoints for standard part discovery.

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